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<li class="toctree-l1"><a class="reference internal" href="../concepts/README.html">Concepts</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../concepts/about_spot.html">About Spot</a></li>
<li class="toctree-l2"><a class="reference internal" href="../concepts/orbit/about_orbit.html">About Orbit (formerly Scout)</a></li>
<li class="toctree-l2"><a class="reference internal" href="../concepts/orbit/orbit_api.html">Orbit API</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../concepts/base_services.html">Base services</a></li>
<li class="toctree-l2"><a class="reference internal" href="../concepts/geometry_and_frames.html">Geometry and Frames</a></li>
<li class="toctree-l2"><a class="reference internal" href="../concepts/robot_services.html">Robot services</a></li>
<li class="toctree-l2"><a class="reference internal" href="../concepts/estop_service.html">E-Stop</a></li>
<li class="toctree-l2"><a class="reference internal" href="../concepts/keepalive_service.html">KeepAlive (BETA)</a></li>
<li class="toctree-l2"><a class="reference internal" href="../concepts/audio_visual.html">Audio Visual</a></li>
<li class="toctree-l2"><a class="reference internal" href="../concepts/lease_service.html">Lease</a></li>
<li class="toctree-l2"><a class="reference internal" href="../concepts/developing_api_services.html">Developing API Services</a></li>
<li class="toctree-l2"><a class="reference internal" href="../concepts/service_customization.html">Service Customization</a></li>
<li class="toctree-l2"><a class="reference internal" href="../concepts/faults.html">Faults</a></li>
<li class="toctree-l2"><a class="reference internal" href="../concepts/autonomy/README.html">Autonomy services</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../concepts/autonomy/graphnav_tech_summary.html">Autonomy Technical Summary</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../concepts/autonomy/initialization.html">Initialization</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/autonomy/localization.html">Localization</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/autonomy/graphnav_and_robot_locomotion.html">GraphNav and robot locomotion</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/autonomy/missions_service.html">Missions service</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../concepts/network_compute_bridge.html">Network compute bridge</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/autonomy/auto_return.html">AutoReturn service</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/autonomy/directed_exploration.html">Directed Exploration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../concepts/choreography/README.html">Choreography</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../concepts/choreography/choreography_service.html">Choreography Service</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/choreography/move_reference.html">Move Reference Guide</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/choreography/custom_gait.html">CustomGait Reference</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/choreography/choreographer_setup.html">Choreographer Setup</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/choreography/choreographer.html">Choreographer Overview</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/choreography/robot_controls_in_choreographer.html">Robot Connections in Choreographer</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/choreography/animations_in_choreographer.html">Animations in Choreography</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/choreography/animation_file_specification.html">Animation File Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/choreography/choreography_in_tablet.html">Tablet Choreography Mode</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/choreography/choreography_in_autowalk.html">Choreography Actions in Autowalk</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../concepts/joint_control/README.html">Joint Control API</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../concepts/joint_control/supplemental_data.html">Supplemental Robot Information</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../concepts/joint_control/knee_torque_limits.html">Knee Torque Limits</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../concepts/arm/README.html">Spot Arm</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../concepts/arm/arm_specification.html">Arm and Gripper Specification</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/arm/arm_concepts.html">Concepts</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/arm/arm_services.html">Services</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../concepts/data.html">Spot Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../concepts/data_acquisition_overview.html">Data Acquisition Overview</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/data_acquisition_output.html">Data Acquisition Output</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/writing_services_for_data_acquisition.html">Integrate Payloads with the API</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/data_buffer_overview.html">Data Buffer Overview</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/bddf.html">BDDF File Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../concepts/data_acquisition_thermal_raw.html">Thermal Raw Data Format</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../python/README.html">Python</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../python/quickstart.html">Quickstart</a></li>
<li class="toctree-l2"><a class="reference internal" href="../python/understanding_spot_programming.html">Understanding Spot Programming</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../python/examples/README.html">Examples</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../python/examples/docs/basic_service_examples.html">Basic Service Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/hello_spot/README.html">Hello Spot</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/directory/README.html">Directory</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/get_robot_state/README.html">Get Robot State</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/get_robot_state_async/README.html">Get Robot State Async</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/get_image/README.html">Get Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/get_world_objects/README.html">Get World Objects</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/get_mission_state/README.html">Get Mission State</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/estop/README.html">E-Stop</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/time_sync/README.html">Time Sync</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/comms_test/README.html">Comms Test</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/disable_ir_emission/README.html">IR Enable/Disable</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/reset_safety_stop/README.html">Reset Safety Stop</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/audio_visual/audio_visual_params/README.html">Audio Visual Params</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/audio_visual/audio_visual_behaviors/README.html">Audio Visual Behaviors</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../python/examples/docs/robot_behavior_examples.html">Robot Behavior and Commands Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/stance/README.html">Stance</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/frame_trajectory_command/README.html">Frame Trajectory</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/spot_light/README.html">Spot Light</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/upload_choreographed_sequence/README.html">Upload Choreographed Sequence</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/xbox_controller/README.html">Xbox Controller</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/wasd/README.html">WASD</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/docking/README.html">Docking</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/animation_recorder/README.html">Animation Recorder</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/auto_return/README.html">Auto Return</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/fan_command/README.html">Fan Commands</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_wasd/README.html">ARM WASD</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../python/examples/docs/arm_examples.html">Arm Command Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_simple/README.html">Simple Arm Motion</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_stow_unstow/README.html">Stow/unstow Arm</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_freeze/README.html">Arm Freeze</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_and_mobility_command/README.html">Arm and Mobility Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_with_body_follow/README.html">Arm Command with Body Following</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_constrained_manipulation/README.html">Arm Constrained Manipulation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_trajectory/README.html">Arm Trajectory</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_trajectory/README.html#long-trajectory">Long Trajectory</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_joint_move/README.html">Arm Joint Move Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_force_control/README.html">Arm Force Control Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_grasp/README.html">Arm Grasp Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_grasp_carry_overrides/README.html">Arm Grasp and Carry Overrides</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_gaze/README.html">Arm Gaze Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_surface_contact/README.html">Arm Command with Surface Contact</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_door/README.html">Arm Door Opening Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_walk_to_object/README.html">Walk to And Pick Up Object</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_gcode/README.html">Writing Gcode</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/gripper_camera_params/README.html">Gripper Camera Parameters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_impedance_control/README.html">Arm Impedance Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/inverse_kinematics/README.html">Inverse Kinematics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/arm_wasd/README.html">Arm WASD</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/joint_control/README.html">Wiggle Arm</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../python/examples/docs/payloads_examples.html">Payloads and Registration Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/payloads/README.html">Payloads</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/self_registration/README.html">Self Registration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/service_faults/README.html">Faults</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/velodyne_client/README.html">Velodyne</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/core_io_gpio/README.html">CORE I/O GPIO</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/metrics_over_coreio/README.html">Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/metrics_over_coreio/README.html#usage">Usage</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/metrics_over_coreio/README.html#components">Components</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/metrics_over_coreio/README.html#recommended-debugging">Recommended debugging</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/extensions/README.html">Extensions</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../python/examples/docs/perception_world_objects_examples.html">Perception and World Objects Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/get_image/README.html">Get Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/get_world_objects/README.html">Get World Objects</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/world_object_with_image_coordinates/README.html">World Object With Image Coordinates</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/world_object_mutations/README.html">World Object Mutations</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/visualizer/README.html">Visualizer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/gripper_camera_params/README.html">Gripper Camera Parameters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/spot_cam/README.html">Spot CAM Services</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/spot_cam/README.html#spot-cam-video-core-io-extension-example">Spot Cam Video Core IO Extension Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/stitch_front_images/README.html">Stitch Front Images</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/get_depth_plus_visual_image/README.html">Project Depth Data on Visual Images</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/service_customization/custom_parameter_image_server/README.html">Custom Parameter Image Server</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/fiducial_follow/README.html">Fiducial Follow</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/spot_tensorflow_detector/README.html">Tensorflow Detector</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/service_customization/custom_parameter_ncb_worker/README.html">Custom Parameter Tensorflow Detector</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/network_compute_bridge/README.html">Machine Learning with the Network Compute Bridge</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/network_compute_bridge/fire_extinguisher_server/README.html">Fire Extinguisher Detector with the Network Compute Bridge</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/ray_cast/README.html">Ray Cast</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/user_nogo_regions/README.html">No-Go Regions</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/gps_service/README.html">GPS</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../../python/examples/docs/logging_examples.html">Logging Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/bddf_download/README.html">BDDF Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/data_buffer/README.html">Data Buffer</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/data_service/README.html">Data Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/logging/README.html">Logging</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/log_status/README.html">Log Status</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../python/examples/docs/data_acquisition_examples.html">Data Acquisition Examples</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/data_acquisition_service/README.html">Data Acquisition Service</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../python/examples/data_acquisition_service/signals_coreio_modem_plugin/README.html">Modem Signals</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../python/examples/service_faults/README.html">Faults</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/service_customization/custom_parameter_image_server/README.html">Custom Parameter Image Service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/service_customization/custom_parameters_data_acquisition/README.html">Custom Parameter Data Acquisition Plugin</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/get_image/README.html">Test Image Service Implementation with Get Image</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/post_docking_callbacks/README.html">Post Docking Callbacks</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/cloud_upload/README.html">Cloud Upload</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/comms_mapping/README.html">Comms image service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/comms_mapping/README.html#how-to-use">How to use</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/data_acquisition_service/signals_coreio_modem_plugin/README.html">CoreIO Modem Signals Plugin</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/examples/tester_programs/README.html">Tester Programs</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/gps/README.html">GPS</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/image.html">Image</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/payload.html">Payload</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/point_cloud.html">Point Cloud</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/ray_cast.html">Ray casting</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/recording.html">Recording</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/robot_command.html">Robot Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/robot_id.html">Robot ID</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/robot.html">Robot</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/robot_state.html">Robot State</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/signals_helpers.html">Signals Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/spot_cam/README.html">Spot CAM</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/spot_cam/audio.html">Audio</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/spot_cam/compositor.html">Compositor</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/spot_cam/health.html">Health</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/spot_cam/ptz.html">PTZ</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/spot_check.html">Spot Check</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/time_sync.html">Time Sync</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-client/src/bosdyn/client/token_cache.html">Token Cache</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/README.html">Core</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/README.html">BDDF</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/base_data_reader.html">Base Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/block_writer.html">Block Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/bosdyn.html">BDDF Conventions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/common.html">Common</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/data_reader.html">Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/data_writer.html">Data Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/file_indexer.html">File Indexer</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/grpc_reader.html">GRPC Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_reader.html">GRPC Service Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_writer.html">GRPC Service Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/message_reader.html">Message Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/pod_series_reader.html">POD Series Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/pod_series_writer.html">POD Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/protobuf_channel_reader.html">Protobuf Channel Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/protobuf_reader.html">Protobuf Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/bddf/protobuf_series_writer.html">Protobuf Series Writer</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-core/src/bosdyn/geometry.html">Geometry</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../python/bosdyn-mission/src/bosdyn/mission/README.html">Mission</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../python/bosdyn-mission/src/bosdyn/mission/util.html">Util</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../../python/bosdyn-choreography-client/src/bosdyn/choreography/client/README.html">Choreography</a><ul>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../python/daq_tutorial/daq1.html">Data Collection Tutorial</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../python/daq_tutorial/daq2.html">Part 2: Capturing images</a></li>
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  <!--
Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.

Downloading, reproducing, distributing or otherwise using the SDK Software
is subject to the terms and conditions of the Boston Dynamics Software
Development Kit License (20191101-BDSDK-SL).
--><section id="core-i-o-documentation">
<h1>CORE I/O Documentation<a class="headerlink" href="#core-i-o-documentation" title="Permalink to this heading"></a></h1>
<p>This section describes how to develop and deploy applications on the CORE I/O and monitor its status.</p>
<section id="file-system-and-release-system">
<h2>File System and Release System<a class="headerlink" href="#file-system-and-release-system" title="Permalink to this heading"></a></h2>
<p>One of the significant differences between the CORE I/O and original Spot CORE is that the root filesystem on the CORE I/O is read-only.
The read-only root filesystem of the CORE I/O allows the system to be more secure and reliable.
It also enables the system to perform updates more easily and roll back to previous releases when updates fail.
While the root filesystem is read-only, the CORE I/O also has read-write partitions for storage of user data and applications.
The recommended way to run application on the CORE I/O is using Docker or Spot Extensions (which uses Docker).
All Docker files, including volumes, are stored in a read-write partition.</p>
<p>The root filesystem does have an optional temporary overlay that allows for writing and modifying files,
but any changes made to the root filesystem are erased on the next boot.
To enable this, run <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">touch</span> <span class="pre">/persist/.enable_overlayroot</span></code> and reboot the system.
To disable this overlay, run the command <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">rm</span> <span class="pre">/persist/.enable_overlayroot</span></code> and reboot the system.</p>
<p>High level partition scheme:</p>
<ul class="simple">
<li><p>The CORE I/O has the following partitions:</p></li>
<li><p>Credential (<code class="docutils literal notranslate"><span class="pre">/cred</span></code>) partition (100MB): contains credential and serial related information, read-only</p></li>
<li><p>Persistent (<code class="docutils literal notranslate"><span class="pre">/persist</span></code>) (5GB): contains other data that may be relevant across reboots and updates, read-write</p></li>
<li><p>Root (<code class="docutils literal notranslate"><span class="pre">/</span></code>) partition (4GB): contains most of the files and structures needed, read-only</p></li>
<li><p>Data (<code class="docutils literal notranslate"><span class="pre">/data</span></code>) partition (400GB): contains persistent user data, including docker images and containers, read-write</p></li>
</ul>
</section>
<section id="system-configuration">
<h2>System Configuration<a class="headerlink" href="#system-configuration" title="Permalink to this heading"></a></h2>
<section id="admin-web-server-authentication">
<h3>Admin Web Server Authentication<a class="headerlink" href="#admin-web-server-authentication" title="Permalink to this heading"></a></h3>
<p>When attached to a robot, the CORE I/O web server will authenticate against the robot it’s attached to with the provided username and password.
This will typically be the password printed in the battery compartment of the robot, but can be any other username/password combination that is valid for the robot, such as a user that has been added through the robot’s web interface.</p>
<p>To disable authentication for the web server (needed if the payload is not attached to a robot),
SSH to the CORE I/O (enter the password provided with the payload when prompted) and create the “skipAuth” file, then restart the web server:</p>
<div class="highlight-sh notranslate"><div class="highlight"><pre><span></span>ssh<span class="w"> </span>-o<span class="w"> </span><span class="nv">IdentitiesOnly</span><span class="o">=</span>yes<span class="w"> </span>-p<span class="w"> </span><span class="m">20022</span><span class="w"> </span>spot@&lt;robot-ip&gt;
sudo<span class="w"> </span>touch<span class="w"> </span>/opt/bd-docker-containers/skipAuth
sudo<span class="w"> </span>systemctl<span class="w"> </span>restart<span class="w"> </span>bd-docker-containers.service
</pre></div>
</div>
<p>Disabling authentication will not persist across boots.</p>
</section>
<section id="how-to-connect-via-ssh">
<h3>How to connect via SSH<a class="headerlink" href="#how-to-connect-via-ssh" title="Permalink to this heading"></a></h3>
<p>If the payload is on a benchtop (e.g. not on a robot), connect the client device to one of the ethernet ports on the payload and set the connected device’s IP address to be on the same subnet (192.168.50.0/24), then run:</p>
<p><code class="docutils literal notranslate"><span class="pre">ssh</span> <span class="pre">spot&#64;192.168.50.5</span></code></p>
<p>If the payload is on a robot, connect the client device to the robot’s network and run:</p>
<p><code class="docutils literal notranslate"><span class="pre">ssh</span> <span class="pre">-p</span> <span class="pre">20022</span> <span class="pre">spot&#64;&lt;robot-ip&gt;</span></code></p>
</section>
<section id="how-to-connect-via-local-terminal-with-monitor-and-keyboard">
<h3>How to connect via local terminal with monitor and keyboard<a class="headerlink" href="#how-to-connect-via-local-terminal-with-monitor-and-keyboard" title="Permalink to this heading"></a></h3>
<p>We recommend connecting to the payload through SSH, but if necessary, the payload provides a USB-C port and two USB-A ports for connecting a monitor and keyboard. To connect a monitor, use a USB-C to HDMI or USB-C to Displayport adapter.
Desktop mode allows CORE I/O to be used without attaching to Spot.
To use the payload in desktop mode, connect a <a class="reference external" href="https://www.digikey.com/en/products/detail/cui-inc/SDI65-48-UDC-P6/5425448">48V power adapter</a> (not included in packaging).
When operating the payload in desktop mode, the only available interface is a terminal. Graphical elements have been removed from the software to optimize for other use-cases.</p>
</section>
<section id="network-and-ssh-configuration">
<h3>Network and SSH Configuration<a class="headerlink" href="#network-and-ssh-configuration" title="Permalink to this heading"></a></h3>
<p>Network configuration on the CORE I/O is done using NetworkManager.
By default, the payload has in IPv4 address of 192.168.50.5/24 on its ethernet interface, which connects to an onboard switch that also connects to the robot via the payload port.
The IP address can be changed from the command line using the <code class="docutils literal notranslate"><span class="pre">nmcli</span></code> tool (https://developer-old.gnome.org/NetworkManager/stable/nmcli.html).
If network settings are changed via a different interface (e.g. <code class="docutils literal notranslate"><span class="pre">ip</span></code> or <code class="docutils literal notranslate"><span class="pre">ifconfig</span></code>), the settings will not persist across reboots.</p>
<p>To connect to a wifi network with a connected USB Wifi dongle:</p>
<div class="highlight-sh notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>nmcli<span class="w"> </span>r<span class="w"> </span>wifi<span class="w"> </span>on
sudo<span class="w"> </span>nmcli<span class="w"> </span>dev<span class="w"> </span>wifi<span class="w"> </span>list
sudo<span class="w"> </span>nmcli<span class="w"> </span>--ask<span class="w"> </span>dev<span class="w"> </span>wifi<span class="w"> </span>connect<span class="w"> </span>&lt;SSID&gt;
</pre></div>
</div>
<p>By default, password-based SSH is allowed. To disable this and only allow key-based SSH, edit the SSHD config file located in <code class="docutils literal notranslate"><span class="pre">/persist/etc/ssh/sshd_config</span></code>.
After password-based SSH has been disabled, copy the SSH key provided with the payload to your client system and connect to the payload using:</p>
<div class="highlight-sh notranslate"><div class="highlight"><pre><span></span>ssh<span class="w"> </span>-i<span class="w"> </span>&lt;/path/to/ssh.key&gt;<span class="w"> </span>-p<span class="w"> </span><span class="m">20022</span><span class="w"> </span>spot@&lt;robot-ip&gt;
</pre></div>
</div>
</section>
<section id="default-services">
<h3>Default Services<a class="headerlink" href="#default-services" title="Permalink to this heading"></a></h3>
<p>By default, the CORE I/O runs a set of software provided by Boston Dynamics. This includes the following:</p>
<ul class="simple">
<li><p>Velodyne LIDAR point cloud processing service (<code class="docutils literal notranslate"><span class="pre">/lib/systemd/system/velodyne_service.service</span></code>)</p></li>
<li><p>Payload registration (part of <code class="docutils literal notranslate"><span class="pre">/lib/systemd/system/bd-docker-containers.service</span></code>)</p></li>
<li><p>Administration web server (part of <code class="docutils literal notranslate"><span class="pre">/lib/systemd/system/bd-docker-containers.service</span></code>)</p></li>
<li><p>Modem management and stat collection (part of <code class="docutils literal notranslate"><span class="pre">/lib/systemd/system/bd-docker-containers.service</span></code>)</p></li>
</ul>
<p>If these are not needed, they can be stopped by the user until the next boot by running <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">systemctl</span> <span class="pre">stop</span> <span class="pre">velodyne_service</span></code> or <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">systemctl</span> <span class="pre">stop</span> <span class="pre">bd-docker-containers.service</span></code>.</p>
</section>
<section id="passwords-and-groups">
<h3>Passwords and Groups<a class="headerlink" href="#passwords-and-groups" title="Permalink to this heading"></a></h3>
<p>As of the 3.2.1 release of CORE I/O software, the password and groups on the payload can be modified by the user.
To change the password for the <code class="docutils literal notranslate"><span class="pre">spot</span></code> user, log in to the payload as the <code class="docutils literal notranslate"><span class="pre">spot</span></code> user and run <code class="docutils literal notranslate"><span class="pre">passwd</span></code>.
To add a new sudo user, run <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">useradd</span> <span class="pre">-m</span> <span class="pre">-G</span> <span class="pre">sudo</span> <span class="pre">&lt;username&gt;</span></code> and then <code class="docutils literal notranslate"><span class="pre">passwd</span> <span class="pre">&lt;username&gt;</span></code>.
To add the <code class="docutils literal notranslate"><span class="pre">spot</span></code> user to an additional group, run <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">usermod</span> <span class="pre">-a</span> <span class="pre">-G</span> <span class="pre">&lt;group&gt;</span> <span class="pre">spot</span></code>.</p>
<p>See <a class="reference external" href="https://linux.die.net/man/1/passwd">passwd</a>, <a class="reference external" href="https://linux.die.net/man/8/useradd">useradd</a>, and <a class="reference external" href="https://linux.die.net/man/8/usermod">usermod</a> for more information.</p>
</section>
</section>
<section id="developing-on-the-core-i-o">
<h2>Developing on the CORE I/O<a class="headerlink" href="#developing-on-the-core-i-o" title="Permalink to this heading"></a></h2>
<section id="development-environment">
<h3>Development Environment<a class="headerlink" href="#development-environment" title="Permalink to this heading"></a></h3>
<p>Due to the read-only filesystem, direct development on the CORE I/O is not recommended.
Installing dependencies using <code class="docutils literal notranslate"><span class="pre">apt</span></code> and <code class="docutils literal notranslate"><span class="pre">pip</span></code> will not work correctly and even if they do, that environment is removed on the next boot.</p>
<p>Instead, we recommend developing on a dedicated development machine and install the end product application to the CORE I/O as Docker images configured in an Extension.
See <a class="reference internal" href="docker_containers.html"><span class="doc">Running Custom Applications with Spot</span></a> for more information.</p>
<p>If development needs to be done on the payload itself, we recommend developing in an environment created with a Docker container.
All dependencies needed for development can be pre-installed in a docker image (or installed after the container is running).
Devices, files, and networking can also be supplied to a container by using the <code class="docutils literal notranslate"><span class="pre">--device</span></code>, <code class="docutils literal notranslate"><span class="pre">--volume</span></code>, and <code class="docutils literal notranslate"><span class="pre">-p</span></code> flags for <code class="docutils literal notranslate"><span class="pre">docker</span> <span class="pre">run</span></code>.
For more information, see <a class="reference external" href="https://docs.docker.com/engine/reference/run/">Docker run reference</a>.</p>
<p>As an example, the follow command can be used to create a development Docker container (the payload will need internet access, or else the arm64v8/python:3.8-slim image needs to imported first):</p>
<div class="highlight-sh notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>docker<span class="w"> </span>run<span class="w"> </span>--name<span class="w"> </span>dev_env<span class="w"> </span>-d<span class="w"> </span>--entrypoint<span class="w"> </span>/bin/bash<span class="w"> </span>-v<span class="w"> </span>/data:/data<span class="w"> </span>arm64v8/python:3.8-slim
</pre></div>
</div>
<p>This creates a detached Docker container with the /data directory mounted. To connect to it, run:</p>
<div class="highlight-sh notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>docker<span class="w"> </span><span class="nb">exec</span><span class="w"> </span>-it<span class="w"> </span>dev_env<span class="w"> </span>/bin/bash
</pre></div>
</div>
<p>You now have an environment where you can install additional dependencies using <code class="docutils literal notranslate"><span class="pre">apt</span></code> and <code class="docutils literal notranslate"><span class="pre">pip</span></code> and can execute Python code.</p>
<p>An example development image is also available as a Spot Extension and can be downloaded <a class="reference external" href="https://d3cjkvgbik1jtv.cloudfront.net/Extensions/playground_extension.spx">here</a>.
After uploading the extension (playground_extension.spx) to the CORE I/O, SSH to the payload, then connect to the running container with the following command:</p>
<div class="highlight-sh notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>docker<span class="w"> </span><span class="nb">exec</span><span class="w"> </span>-it<span class="w"> </span>playground_extension-coreio_playground-1<span class="w"> </span>/bin/bash
</pre></div>
</div>
<p>This “playground” container is based off the Linux for Tegra (L4T) base image and enables use of the GPU. It does not contain anything else, like the SDK, but those can be added if necessary by changing the Docker image included in the extension.</p>
</section>
<section id="gpio-and-pwm">
<h3>GPIO and PWM<a class="headerlink" href="#gpio-and-pwm" title="Permalink to this heading"></a></h3>
<p>GPIO stands for general purpose input/output.
The CORE I/O comes with 3 pins a developer can utilize for these general purposes.
They can be setup in software as a signal output of 3.3v,
a logic level input reading pin (note there are not internal pull-up resistors),
or a pwm (pulse-width modulation) output signal.
The CORE I/O also provides pins that provide power out at 5V, 12V, and 24V.
There are also 2 pins providing i2c communication SDA (data) and SCL (clock).</p>
<p>CORE I/O Diagram:</p>
<p><img alt="coreio ports" src="../../_images/coreio_ports.png" /></p>
<p>Terminal Block Schematics:</p>
<p><img alt="terminal blocks" src="../../_images/terminal_blocks.png" /></p>
<p>In table form:</p>
<table border="1" class="docutils">
<thead>
<tr>
<th>Pin Number</th>
<th>Connector (CN)1</th>
<th>CN2</th>
<th>CN3</th>
<th>CN4</th>
</tr>
</thead>
<tbody>
<tr>
<td>1</td>
<td>Motor Loop Back</td>
<td>GPIO pin 1</td>
<td>48v unreg</td>
<td>48v unreg</td>
</tr>
<tr>
<td>2</td>
<td>Motor Loop Back</td>
<td>GPIO pin 2</td>
<td>24v output</td>
<td>24v output</td>
</tr>
<tr>
<td>3</td>
<td>Extra Loop Back B</td>
<td>GPIO pin 3</td>
<td>12v output*</td>
<td>12v output*</td>
</tr>
<tr>
<td>4</td>
<td>Extra Loop Back B</td>
<td>GND</td>
<td>12v output*</td>
<td>12v output*</td>
</tr>
<tr>
<td>5</td>
<td>Payload Loop Back</td>
<td>i2c serial SDA</td>
<td>5v output</td>
<td>5v output</td>
</tr>
<tr>
<td>6</td>
<td>Payload Loop Back</td>
<td>i2c serial SCL</td>
<td>5v output</td>
<td>5v output</td>
</tr>
<tr>
<td>7</td>
<td>Extra Loop Back A</td>
<td>PPS pulse</td>
<td>GND</td>
<td>GND</td>
</tr>
<tr>
<td>8</td>
<td>Extra Loop Back A</td>
<td>GND</td>
<td>GND</td>
<td>GND</td>
</tr>
<tr>
<td>9</td>
<td>GND</td>
<td>GND</td>
<td>GND</td>
<td>GND</td>
</tr>
<tr>
<td>10</td>
<td>GND</td>
<td>GND</td>
<td>GND</td>
<td>GND</td>
</tr>
<tr>
<td>11</td>
<td></td>
<td></td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table><p>All loop backs must ensure continuity to like-named loop back connections i.e. jumpered.</p>
<p>The easiest way to control the voltage output pins in CN3 and CN4 is through the GPIO page in the web server. At this time, PWM control has not yet been built into the web server.</p>
<p>* Turning off GPIO pins while the payload is in operation may also adversely affect functionality.
For example, turning off the 12V pin will cut power to an attached lidar and will inhibit Autowalk from working.
The service serving LIDAR data to the robot also automatically turns on the 12V pin.
If the 12V pin needs to be turned off, the lidar service must be disabled.</p>
<p>The following are the electrical specifications for the GPIO ports:</p>
<ul class="simple">
<li><p>3.3V Nominal I/O, 100 Ohm Series output impedance</p></li>
<li><p>Output: V_OH(min) = 2.2V, at V_CCO=3.0V &amp; I_OH=-24mA</p></li>
<li><p>Abs Max: I_OL/I_OH = +-50mA</p></li>
<li><p>I_VCC*/GND = +-100mA</p></li>
</ul>
<p>Scripts have also been provided as part of the base CORE I/O software that can be referenced when working with GPIO and PWM from another program:</p>
<ul class="simple">
<li><p>Voltage outputs: <code class="docutils literal notranslate"><span class="pre">/usr/bin/gpioPowerUtil.sh</span></code> (This provides a command line interface for toggling voltage outputs. See the contents of the script for usage)</p></li>
<li><p>PWM Control: <code class="docutils literal notranslate"><span class="pre">/usr/bin/gpioPwmUtil.sh</span></code> (This provides a command line interface for configuring PWM outputs. See the contents of the script for usage)</p></li>
</ul>
<p>Note: All voltage output pins (CN3 and CN4) are turned on when the CORE I/O boots up.
On/off settings set via the web server or helper script do not persist across reboots or updates.
Turning off GPIO pins while the payload is in operation may also adversely affect functionality.
For example, turning off the 12V pin will cut power to an attached lidar and will inhibit Autowalk from working.
The service serving LIDAR data to the robot also automatically turns on the 12V pin.
If the 12V pin needs to be turned off, the lidar service must be disabled.</p>
<p>Example of a Docker Compose file that provides voltage output control:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">version</span><span class="p">:</span> <span class="s2">&quot;3.5&quot;</span>
<span class="n">services</span><span class="p">:</span>
  <span class="n">gpio_container</span><span class="p">:</span>
    <span class="n">image</span><span class="p">:</span> <span class="n">ubuntu</span><span class="p">:</span><span class="mf">20.04</span>
    <span class="n">restart</span><span class="p">:</span> <span class="n">unless</span><span class="o">-</span><span class="n">stopped</span>
    <span class="n">volumes</span><span class="p">:</span>
      <span class="o">-</span> <span class="o">/</span><span class="n">dev</span><span class="p">:</span><span class="o">/</span><span class="n">dev</span>
      <span class="o">-</span> <span class="o">/</span><span class="n">sys</span><span class="p">:</span><span class="o">/</span><span class="n">sys</span>
    <span class="n">devices</span><span class="p">:</span>
      <span class="o">-</span> <span class="o">/</span><span class="n">dev</span><span class="o">/</span><span class="n">gpiochip0</span><span class="p">:</span><span class="o">/</span><span class="n">dev</span><span class="o">/</span><span class="n">gpiochip0</span>
      <span class="o">-</span> <span class="o">/</span><span class="n">dev</span><span class="o">/</span><span class="n">gpiochip1</span><span class="p">:</span><span class="o">/</span><span class="n">dev</span><span class="o">/</span><span class="n">gpiochip1</span>
      <span class="o">-</span> <span class="o">/</span><span class="n">dev</span><span class="o">/</span><span class="n">gpiochip2</span><span class="p">:</span><span class="o">/</span><span class="n">dev</span><span class="o">/</span><span class="n">gpiochip2</span>
</pre></div>
</div>
<p>Working with other devices (e.g. USB devices, SD cards, etc.) is similar. The corresponding devices and volumes simply need to be mounted into the container.</p>
</section>
<section id="working-with-i2c">
<h3>Working with i2c<a class="headerlink" href="#working-with-i2c" title="Permalink to this heading"></a></h3>
<p>i2c is a serial communication protocol that can be used to daisy-chain many devices (provided they have different addresses) to a single bus.
Communication happens across 2 pins SCL and SDA (clock and data) and chip power and ground are also required, 4 wires total for dozens of sensors and devices.</p>
<p>The CORE I/O CN2 connector has i2c in pins 5 (SDA) and 6 (SCL)</p>
<p>Once the device is connected to SDA, SCL, 3.3v, and GND it can be seen on the i2c bus #1 by using this shell command:</p>
<div class="highlight-sh notranslate"><div class="highlight"><pre><span></span>i2cdetect<span class="w"> </span>-y<span class="w"> </span>-r<span class="w"> </span><span class="m">1</span>
</pre></div>
</div>
<p>Which returns:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f
00:          -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- 6d -- --
70: -- -- -- -- -- -- -- –
</pre></div>
</div>
<p>The table shows there is a device on bus 1 at address 0x6D
To read individual registers on the device, run the following command:</p>
<div class="highlight-sh notranslate"><div class="highlight"><pre><span></span>i2cget<span class="w"> </span>-y<span class="w"> </span><span class="m">1</span><span class="w"> </span>0x6D<span class="w"> </span>0x00
</pre></div>
</div>
</section>
<section id="working-with-the-gpu">
<h3>Working with the GPU<a class="headerlink" href="#working-with-the-gpu" title="Permalink to this heading"></a></h3>
<p>The CORE I/O has an NVIDIA Xavier NX, which has an NVIDIA Volta architecture GPU with 384 NVIDIA CUDA® cores.
The GPU can be used for running ML models and examples for running ML models as Spot Extensions are provided as a part of the Spot SDK.
The GPU can be used by multiple processes (and multiple Extensions), but performance may not be optimal.</p>
<p>Benchmarks: https://developer.nvidia.com/embedded/jetson-benchmarks</p>
<p>The GPU can be used as a part of a docker container or Spot Extension by using Nvidia’s <a class="reference external" href="https://catalog.ngc.nvidia.com/orgs/nvidia/containers/l4t-base">L4T base docker image</a> and running a container using the <code class="docutils literal notranslate"><span class="pre">--gpus</span> <span class="pre">all</span></code> flag.
An example using Docker Compose and Spot Extensions has also been provided as a part of the <a class="reference internal" href="../../python/examples/network_compute_bridge/fire_extinguisher_server/README.html"><span class="doc">fire extinguisher detector</span></a>:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">version</span><span class="p">:</span> <span class="s2">&quot;3.5&quot;</span>
<span class="n">services</span><span class="p">:</span>
  <span class="n">fire_ext_detector</span><span class="p">:</span>
    <span class="n">image</span><span class="p">:</span> <span class="n">fire_ext_detector</span><span class="p">:</span><span class="n">l4t</span>
    <span class="n">network_mode</span><span class="p">:</span> <span class="n">host</span>
    <span class="n">restart</span><span class="p">:</span> <span class="n">unless</span><span class="o">-</span><span class="n">stopped</span>
    <span class="n">volumes</span><span class="p">:</span>
      <span class="c1"># Mount payload credentials.</span>
      <span class="o">-</span> <span class="o">/</span><span class="n">opt</span><span class="o">/</span><span class="n">payload_credentials</span><span class="o">/</span><span class="n">payload_guid_and_secret</span><span class="p">:</span><span class="o">/</span><span class="n">opt</span><span class="o">/</span><span class="n">payload_credentials</span><span class="o">/</span><span class="n">payload_guid_and_secret</span>
    <span class="c1"># The command below is partial because the docker image is already configured with an entrypoint.</span>
    <span class="n">command</span><span class="p">:</span> <span class="o">-</span><span class="n">d</span> <span class="o">.</span> <span class="mf">192.168.50.3</span> <span class="o">--</span><span class="n">payload</span><span class="o">-</span><span class="n">credentials</span><span class="o">-</span><span class="n">file</span> <span class="o">/</span><span class="n">opt</span><span class="o">/</span><span class="n">payload_credentials</span><span class="o">/</span><span class="n">payload_guid_and_secret</span>
    <span class="n">deploy</span><span class="p">:</span>
      <span class="n">resources</span><span class="p">:</span>
        <span class="n">reservations</span><span class="p">:</span>
          <span class="n">devices</span><span class="p">:</span>
            <span class="o">-</span> <span class="n">driver</span><span class="p">:</span> <span class="n">nvidia</span>
              <span class="n">capabilities</span><span class="p">:</span> <span class="p">[</span><span class="n">gpu</span><span class="p">]</span>
</pre></div>
</div>
</section>
</section>
<section id="spot-extensions">
<h2>Spot Extensions<a class="headerlink" href="#spot-extensions" title="Permalink to this heading"></a></h2>
<p>See <a class="reference internal" href="docker_containers.html"><span class="doc">Spot Extension Development</span></a>.</p>
</section>
</section>


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